bfs.py

@@ -1,5 +1,6 @@
 from agentState import AgentState
 from typing import Dict, Tuple
+from city import City
 from gridCellType import GridCellType
 from agentActionType import AgentActionType
 from agentOrientation import AgentOrientation
@@ -104,4 +105,19 @@ def is_state_valid(state: AgentState, grid: Dict[Tuple[int, int], GridCellType])
     try: 
         return grid[state.position] == GridCellType.STREET_HORIZONTAL or grid[state.position] == GridCellType.STREET_VERTICAL or grid[state.position] == GridCellType.SPEED_BUMP
     except:
-        return False
+        return False
+    
+def _heuristics(position: Tuple[int, int], city: City):
+    min_distance: int = 300
+    found_nonvisited: bool = False
+    for can in city.cans:
+        if can.is_visited:
+            continue
+        found_nonvisited = True
+        distance = 3 * (abs(position[0] - can.position[0]) + abs(position[1] - can.position[1]))
+        if distance < min_distance:
+            min_distance = distance
+    if found_nonvisited:
+        return min_distance
+    return -1
+    

city.py

@@ -1,21 +1,23 @@
-from typing import List
+from typing import List, Dict, Tuple
 from garbageCan import GarbageCan
 from speedBump import SpeedBump
 from street import Street
 from gameContext import GameContext        
         
 class City:
-    nodes: List[GarbageCan]
+    cans: List[GarbageCan]
     bumps: List[SpeedBump]
     streets: List[Street]
+    cans_dict: Dict[Tuple[int, int], GarbageCan] = {}
 
     def __init__(self) -> None:
         self.nodes = []
         self.streets = []
         self.bumps = []
 
-    def add_node(self, node: GarbageCan) -> None:
-        self.nodes.append(node)
+    def add_can(self, can: GarbageCan) -> None:
+        self.nodes.append(can)
+        self.cans_dict[can.position] = can
     
     def add_street(self, street: Street) -> None:
         self.streets.append(street)

gameContext.py

@@ -15,6 +15,8 @@ class GameContext:
     grid: Dict[Tuple[int, int], GridCellType] = {}
     dust_car = None
     landfill = None
+    
+
 
     def __init__(self) -> None:
         self._init_grid()

garbageCan.py

@@ -6,10 +6,12 @@ from gridCellType import GridCellType
 class GarbageCan:
     position: Tuple[int, int]
     garbage: List[Garbage]
+    is_visited: bool
 
     def __init__(self, position: Tuple[int, int]) -> None:
         self.position = position
         self.garbage = []
+        self.is_visited = False
 
     def add_garbage(self, garbage: Garbage) -> None:
         self.garbage.append(garbage)

gridCellType.py

@@ -7,4 +7,5 @@ class GridCellType(Enum):
     GARBAGE_CAN = 3
     VISITED_GARBAGE_CAN = 4
     LANDFILL = 5
-    SPEED_BUMP = 6
+    SPEED_BUMP = 6
+    UNKNOWN = None

movement.py

@@ -19,6 +19,7 @@ def collect_garbage(game_context: GameContext) -> None:
         move_dust_car(path, game_context)
         next_position = calculate_next_position(game_context.dust_car)
         game_context.grid[next_position] = GridCellType.VISITED_GARBAGE_CAN
+        game_context.city.cans_dict[next_position].is_visited = True
     pass
 
 def move_dust_car(actions: list[AgentActionType], game_context: GameContext) -> None:

startup.py

@@ -35,7 +35,7 @@ def create_city() -> City:
     for s in streets:
         city.add_street(s)
     for t in trashcans:
-        city.add_node(t)
+        city.add_can(t)
     for b in bumps:
         city.add_bump(b)
     return city